Transfer control system, transfer control apparatus, and transfer control method

Abstract

A transfer control system or a transfer control apparatus controls lifting or lowering of a loading portion that loads an object in a mobile body that conveys an object. The transfer control system or the transfer control apparatus acquires a load amount of the loading portion, and information regarding a first height that is a height of a place where the object is moved to and from the loading portion. The transfer control system or the transfer control apparatus specifies, based on the first height, a second height that is one of the heights for lifting or lowering the loading portion and is higher than the first height. The transfer control system or the transfer control apparatus performs a first lifting or lowering control of lifting or lowering the loading portion according to the load amount between a first height and a second height above the place.

What is claimed is: 
     
         1 . A transfer control system comprising:
 at least one memory storing instructions; and   at least one processor configured to execute the instructions to do transfer control process, wherein the transfer control process includes:   controlling lifting or lowering of a loading portion for loading an object in a mobile body for conveying the object;   acquiring a load amount of the loading portion;   acquiring information relating to a first height that is a height of a place where the object is moved to and from the loading portion; and   specifying a second height that is one of heights for lifting or lowering the loading portion and is higher than the first height based on the first height,   wherein the controlling lifting or lowering includes a first control of lifting or lowering the loading portion according to the load amount between the first height and the second height above the place.   
     
     
         2 . The transfer control system according to  claim 1 , wherein, in the controlling lifting or lowering, in a case where the loading portion moves the object to the place, after performing a second control of lifting or lowering the loading portion to the second height, the first control is performed until the load amount becomes equal to or less than a threshold value. 
     
     
         3 . The transfer control system according to  claim 1 , wherein, in the controlling lifting or lowering, in a case where the loading portion moves the object from the place, after performing a second control of lifting or lowering the loading portion to the first height, the first control is performed until a change in the load amount becomes equal to or less than a threshold value. 
     
     
         4 . The transfer control system according to  claim 1 , wherein the first control includes a control of changing a speed of lifting or lowering the loading portion according to a change in the load amount. 
     
     
         5 . The transfer control system according to  claim 1 , wherein the specifying is specifying the second height as a position higher than the first height by a predetermined value. 
     
     
         6 . The transfer control system according to  claim 1 , wherein
 the loading portion is a carrying portion for carrying the object,   the object includes cargo loading pallet including a frame forming a space in which the carrying portion is inserted from a horizontal direction, and   the first height is a height obtained by adding a height of a lower frame of the cargo loading pallet to a height of a surface of a target to which the object is moved with respect to the carrying portion.   
     
     
         7 . The transfer control system according to  claim 1 , wherein the acquiring information is acquiring a measurement value obtained by measuring a height of a surface of a target for moving the object with the loading portion as the information regarding the first height. 
     
     
         8 . A transfer control apparatus comprising:
 at least one memory storing instructions; and   at least one processor configured to execute the instructions to do transfer control process, wherein the transfer control process includes:   controlling lifting or lowering of a loading portion for loading an object in a mobile body for conveying the object;   acquiring a load amount of the loading portion;   acquiring information relating to a first height that is a height of a place where the object is moved to and from the loading portion; and   specifying a second height that is one of heights for lifting or lowering the loading portion and is higher than the first height based on the first height,   wherein the controlling lifting or lowering includes a first control of lifting or lowering the loading portion according to the load amount between the first height and the second height above the place.   
     
     
         9 . The transfer control apparatus according to  claim 8 , wherein, in the controlling lifting or lowering, in a case where the loading portion moves the object to the place, after performing a second control of lifting or lowering the loading portion to the second height, the first control is performed until the load amount becomes equal to or less than a threshold value. 
     
     
         10 . The transfer control apparatus according to  claim 8 , wherein, in the controlling lifting or lowering, in a case where the loading portion moves the object from the place, after performing a second control of lifting or lowering the loading portion to the first height, the first control is performed until a change in the load amount becomes equal to or less than a threshold value. 
     
     
         11 . The transfer control apparatus according to  claim 8 , wherein the first control includes a control of changing a speed of lifting or lowering the loading portion according to a change in the load amount. 
     
     
         12 . The transfer control apparatus according to  claim 8 , wherein the specifying is specifying the second height as a position higher than the first height by a predetermined value. 
     
     
         13 . The transfer control apparatus according to  claim 8 , wherein
 the loading portion is a carrying portion for carrying the object,   the object includes cargo loading pallet including a frame forming a space in which the carrying portion is inserted from a horizontal direction, and   the first height is a height obtained by adding a height of a lower frame of the cargo loading pallet to a height of a surface of a target to which the object is moved with respect to the carrying portion.   
     
     
         14 . The transfer control apparatus according to  claim 8 , wherein the acquiring information is acquiring a measurement value obtained by measuring a height of a surface of a target for moving the object with the loading portion as the information regarding the first height. 
     
     
         15 . A transfer control method comprising:
 controlling lifting or lowering of a loading portion for loading an object in a mobile body for conveying the object;   acquiring a load amount of the loading portion;   acquiring information relating to a first height that is a height of a place where the object is moved to and from the loading portion; and   specifying a second height that is one of heights for lifting or lowering the loading portion and is higher than the first height based on the first height,   wherein the controlling lifting or lowering includes a first control of lifting or lowering the loading portion according to the load amount between the first height and the second height above the place.   
     
     
         16 . The transfer control method according to  claim 15 , wherein, in the controlling lifting or lowering, in a case where the loading portion moves the object to the place, after performing a second control of lifting or lowering the loading portion to the second height, the first control is performed until the load amount becomes equal to or less than a threshold value. 
     
     
         17 . The transfer control method according to  claim 15 , wherein, in the controlling lifting or lowering, in a case where the loading portion moves the object from the place, after performing a second control of lifting or lowering the loading portion to the first height, the first control is performed until a change in the load amount becomes equal to or less than a threshold value. 
     
     
         18 . The transfer control method according to  claim 15 , wherein the first control includes a control of changing a speed of lifting or lowering the loading portion according to a change in the load amount. 
     
     
         19 . The transfer control method according to  claim 15 , wherein the specifying is specifying the second height as a position higher than the first height by a predetermined value. 
     
     
         20 . The transfer control method according to  claim 15 , wherein
 the loading portion is a carrying portion for carrying the object,   the object includes cargo loading pallet including a frame forming a space in which the carrying portion is inserted from a horizontal direction, and   the first height is a height obtained by adding a height of a lower frame of the cargo loading pallet to a height of a surface of a target to which the object is moved with respect to the carrying portion.   
     
     
         21 . (canceled)